Research on data drift suppression method of gyroscope sensor Based on First-order Inertia and Low Pass Filter

Gyroscope and accelerometer are often used in the three-axis platform to measure the camera attitude and control the three-axis motor, so as to achieve the camera picture smoothness. However, because the output of gyroscope varies with time, temperature and other factors, data drift often occurs after three-axis platform is used for a period of time. To solve this problem, the accelerometer is usually used to suppress the drift. But the accelerometer measurement value on the heading axis is always in the same direction as gravity, the drift on the heading axis is difficult to suppress, which affects the normal shooting of the camera. In this paper, the first-order inertia process with variable parameters and low-pass filter link are added to the attitude calculation of the heading axis to effectively suppress the drift of the heading axis. The correctness and feasibility of the method are verified by simulation and experiment in a real triaxial platform system.